Galil Motion Control note 2326 Page 3
internal ratio divided by the exact value of the ratio you calculated times DIST. Round
this number to the nearest integer. Subtract this value from DIST and enter as DELTA.
There is one more parameter to calculate: INTERVAL. INTERVAL is the number of
counts it takes for the geared axis to accumulate one count of error. It is equal to the
actual distance calculated above divided by DELTA. This value should be rounded down
to the nearest integer.
Example:
The following example shows the calculations performed for the sample program above:
PITCH=360
RADIUS=5000
DIST=3999
ANGLE =
360*DIST/PITCH = 3999
EXACT RATIO =
PITCH/(2*PI*RADIUS) = 0.011459155
\ Calculated
value
RATIO =
0.0114 \Value entered in program
INTERNAL RATIO:
RATIO*65536 = 747.1104
\ Truncate decimal part
and divide by 65536
747/65536 = 0.011398315
ACTUAL DISTANCE = INTERNAL RATIO/EXACT RATIO * DIST
= 0.011398315/0.011459155 * 3999 = 3977.768
\round
to nearest integer
= 3978
DELTA =
DIST-ACTUAL DISTANCE = 3999-3978 = 21
INTERVAL =
ACTUAL DISTANCE/DELTA = 3978/21 = 189.4286
\round down
=
189
